diff --git a/clever/launch/main_camera.launch b/clever/launch/main_camera.launch
index b9f1f1e6..a9bc4a63 100644
--- a/clever/launch/main_camera.launch
+++ b/clever/launch/main_camera.launch
@@ -1,16 +1,16 @@
 <launch>
-    <!-- the bottom facing camera -->
-
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0 0 -0.07 -1.5707963 0 3.1415926 fcu bottom_camera_optical"/>-->
+    <!-- clever 2 -->
+    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0 0 -0.07 -1.5707963 0 3.1415926 fcu main_camera_optical"/>-->
 
     <!-- clever 3 -->
-    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 fcu bottom_camera_optical"/>-->
+    <!--<node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 1.5707963 0 3.1415926 fcu main_camera_optical"/>-->
 
-    <!-- upwards -->
-    <node pkg="tf2_ros" type="static_transform_publisher" name="bottom_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 fcu bottom_camera_optical"/>
+    <!-- clever 3, upwards -->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 0.07 -1.5707963 0 0 fcu main_camera_optical"/>
 
-    <node pkg="nodelet" type="nodelet" name="bottom_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
-        <param name="frame_id" value="bottom_camera_optical"/>
+    <!-- camera node -->
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager" clear_params="true">
+        <param name="frame_id" value="main_camera_optical"/>
         <param name="camera_info_url" value="file://$(find clever)/camera_info/fisheye_cam_320.yaml"/>
 
         <!-- setting camera FPS -->